Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 7 doc
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 7 doc
... 110, 13 8-1 44, 1988.
[ 17] J.T. Wen and K. Kreutz, "Motion and force control of multiple
robotic manipulators," Automatica, 28, 72 9 -7 43, 1992.
[18] P. Chiacchio and S. Chiaverini, "PD-type ... of two-arm robots," Ad-
vanced Robotics, 7, 36 1-3 83, 1993.
P. Chiacchio, S. Chiaverini, and B. Siciliano, "Direct and inverse
kinematics for coordinated...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 6 doc
...
2. 7. Conclusions
73
t.5
-0 .5
-1
-1 .5
Rotational Metric for Two Dimensional Ellipsoids
w
2.0000
1.4142 ~ ,/ ,," - ~ . " - 1~,4142
/ ";' ,, . )(
0 .73 21 i ;; " ... p~ - p~. (3.3)
76 __ Chapter 2. Kinematic manipulability of general mechanical systems
1.5
1
0.5
0
-0 .5
-1
Two
Ellipsoids Differing In Shape end
Scale
-1...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 1 pdf
... 21, 1-8 0125 Napoli, Italy
ISBN 3-5 4 0 -7 626 5-5 Springer-Verlag Berlin Heidelberg New York
British Library Cataloguing in Publication Data
Complex robotic systems. - (Lecture notes in control and ... and
information sciences ; 233)
1.Robotics
I .Chiacchio, Pasquale II .Chiaverini, Stefano
629.8'92
ISBN 354 076 2655
Library of Congress Cataloging-in-Publicat...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 2 pps
...
respectively.
1 .7. Advanced topics
21
20
I '""I'll - 1"¸'~'
Z 10
e 0
Ref
Cur
-1 0 r , , , _~x
0 1 2
Time Is]
Figure 1.14: Experimental results: "Fry. ... Multi-arm robot systems: A survey
50
0
¢~ -5 0
-1 00
-1 50
0 2 4 6
Time [s]
Figure 1.10: Experimental results: ~Fry.
1 .7 Advanced topics
1 .7. 1 Multi-flexible-...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 3 pot
... Two Arms," in Proc.
5th Int. Conf. on Artificial Intelligence, 1 977 , pp. 71 7- 7 22.
[5]
[6]
[7]
S. Kurono, "Cooperative Control of Two Artificial Hands by a
Mini-Computer," in ... Space
Robotics," in Proc. IEEE Int. Workshop on Intelligent Robots and
Systems, Tsuchiura, Japan, July 1990, pp. 37 5-3 81.
[42]
P. Chiacchio, S. Chiaverini, and B. Siciliano...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 4 potx
... mechanical systems
Two Arms Holding
a Common Object - 2 DOF Task
Space
3.5 , ,
3
2.5
2
1.5
1
0,5
0
-0 .5
-t
-1 ,5
D
I s~
Figure 2 .7: Two arms holding a rigid payload.
Consider in particular ... orienta-
tion and therefore needs to be separately stated:
A(c)VT = J(C)d + H(c)Tw (2.33)
(c) T
r,(c) T
,,' ~-( c)T'~
where j(c) = diag{&C),j~c),j~e)...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) Part 5 pptx
...
mechanical systems
0 -0 .5 0 -0 . 176 8 ] (2.49)
C~ = ~T & = 1 .70 71 1.2 071 0 .70 71 0. 176 S
a-w~ [ I °]= o I
And finally, we obtain the result:
(2.50)
C1~2 ~-~ _1/2
:
[-0 .13050.130 5-0 .183610.1836 ... SVD to this matrix, we obtain the information about the
multi-arm ellipsoid:
[-0 .70 7 1-0 .70 71] [0.31860]
(2.52)
U = 0 .70 71 -0 .70 71 ~ = 0 0...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 9 pot
... matrix of [~T,
ET] T
using inverse by partitioning [ 37] :
= D-1A (V C - Hm~l - H,,) -D-1AT(AD-1AT)-IA~I
(4.49)
~. : (An -1 AT) -1 {An -1 (T C - Urea - Hv) + ff~(~}
(4.50)
The solution for ... non-master slave coordinated control of two-arm robots", Ad-
vanced Robotics, vol. 7, no. 4, pp. 36 1-3 83, 1993.
[9] P. Chiacchio and S. Chiaverini, "P...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 10 pot
... evolve according to the following
equations
6S -& quot ;- M-II(ICf + ~°)-I ( [ -wY ] -f~° [ vx ] vy
(5.5)
¢ = + :rsMsus + ToMoUo (5 ,7)
= o (5.8)
In particular, if the bodies maintain rolling contact ... hand, with a 'thumb' opposing two or more 'fingers'. Some
hands are tendon-driven [2, 13, 55, 81, 82], and some powered by actuators
in the hand unit itself...
Complex Robotic Systems - Pasquale Chiacchio & Stefano Chiaverini (Eds) part 11 potx
... Japan,
1995.
[ 37]
K.A. Farry, I.D. Walker, and R.G. Baxaniuk. Myoelectirc teleoper-
ation of a Complex Robotic Hand. IEEE Transactions on Robotics
and Automation, 12(5) :77 5 -7 88, 1996.
[38] ... Con-
ference on Robotics and Automation,
pages 70 9 -7 22, Atlanta, GA,
1993.
A. Bicchi. On the Closure Properties of Robotic Grasping.
Inter-
national Journal of Robotics Rese...
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